Robust Adaptive Control of Nonholonomic Systems With Uncertainties
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摘要: 研究了一类带有不确定参数以及强非线性干扰项的链式非完整系统的鲁棒适应控制问题A·D2利用State-scaling和back-stepping技巧,构造性地给出了一种使系统镇定的反馈设计方法,使闭环系统指数稳定.Abstract: Robust adaptive control of nonholonomic systems in chained form with linearly parameterized and strongly nonlinear disturbance and drift terms is dicussed. The novelty of the proposed method is a combined use of the state-scaling and the back-stepping procedure.
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Key words:
- nonholonomic system /
- adaptive control /
- stability
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